docs: def _to_parent_frame(self, *args, **kwargs):
          """Conversion from Topocentric Frame to parent frame
          """
          lat, lon, _ = self.latlonalt
          m = rot3(-lon) @ rot2(lat - np.pi / 2.) @ rot3(self.heading)
          offset = np.zeros(6)
          offset[:3] = self.coordinates
          return self._convert(m, m), offset